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<div class="title">mpc.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://atomgit.com/openloong/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;mpc.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;useful_math.h&quot;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;MPC::MPC(<span class="keywordtype">double</span> dtIn):QP(nu*ch, nc*ch) {</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    m = 76.0843;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    g = -9.8;</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    miu = 0.5;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    delta_foot[0] = 0.073;</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    delta_foot[1] = 0.125;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    delta_foot[2] = 0.025;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    delta_foot[3] = 0.025;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    max[0] = 1000.0;  max[1] = 1000.0; max[2] = -3.0*m*g;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    max[3] = 1000.0;  max[4] = 1000.0; max[5] = 1000.0;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    min[0] = -1000.0;  min[1] = -1000.0; min[2] = 0.0;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    min[3] = -1000.0;  min[4] = -1000.0; min[5] = -1000.0;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="comment">//single rigid body model</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; (mpc_N); i ++){</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        Ac[i].setZero();</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        Bc[i].setZero();</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        A[i].setZero();</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        B[i].setZero();</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    }</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    Cc.setZero();</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    C.setZero();</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    Aqp.setZero();</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    Aqp1.setZero();</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    Bqp1.setZero();</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    Bqp.setZero();</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    Cqp1.setZero();</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    Cqp.setZero();</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    Ufe.setZero();</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    Ufe_pre.setZero();</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    Xd.setZero();</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    X_cur.setZero();</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    X_cal.setZero();</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    dX_cal.setZero();</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    L = Eigen::MatrixXd::Zero(nx*mpc_N, nx*mpc_N);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    K.setZero(); M.setZero();</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    alpha = 0.0;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    H.setZero();</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    c.setZero();</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    u_low.setZero(); u_up.setZero();</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    As.setZero();</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    bs.setZero();</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    pCoM.setZero();</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    pf2com.setZero(); pe.setZero();</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    R_cur.setZero();</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    R_w2f.setZero(); R_f2w.setZero();</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    qpOASES::Options  option;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    option.printLevel = qpOASES::PL_LOW;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    QP.setOptions(option);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    dt = dtIn;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keywordtype">void</span> MPC::set_weight(<span class="keywordtype">double</span> u_weight, Eigen::MatrixXd L_diag, Eigen::MatrixXd K_diag) {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    Eigen::Matrix&lt;double, 1, nx*mpc_N&gt;   L_diag_N;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    Eigen::Matrix&lt;double, 1, nu*ch&gt;      K_diag_N;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    alpha = u_weight;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mpc_N; i++)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        L_diag_N.block&lt;1,nx&gt;(0, i*nx) = L_diag;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; ch; i++)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        K_diag_N.block&lt;1,nu&gt;(0, i*nu) = K_diag;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    L = L_diag_N.asDiagonal();</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    K = K_diag_N.asDiagonal();</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="keywordtype">void</span> MPC::dataBusRead(<a class="code" href="structDataBus.html">DataBus</a> &amp;Data) {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">if</span> (EN) {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="comment">//set Xd</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; (mpc_N - 1); i++)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            Xd.block&lt;nx, 1&gt;(nx * i, 0) = Xd.block&lt;nx, 1&gt;(nx * (i + 1), 0);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            Xd(nx * (mpc_N - 1) + j) = Data.js_eul_des(j);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            Xd(nx * (mpc_N - 1) + 3 + j) = Data.js_pos_des(j);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            Xd(nx * (mpc_N - 1) + 6 + j) = Data.js_omega_des(j);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            Xd(nx * (mpc_N - 1) + 9 + j) = Data.js_vel_des(j);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">else</span>{</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            Data.js_eul_des(j) = Data.base_rpy(j);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            Data.js_pos_des(j) = Data.base_pos(j);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            Data.js_omega_des(j) = Data.base_omega_W(j);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            Data.js_vel_des(j) = Data.dq(j);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mpc_N; i++){</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                Xd(nx * i + j) = Data.js_eul_des(j);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                Xd(nx * i + 3 + j) = Data.js_pos_des(j);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                Xd(nx * i + 6 + j) = Data.js_omega_des(j);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                Xd(nx * i + 9 + j) = Data.js_vel_des(j);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="comment">//set value</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    X_cur.block&lt;3,1&gt;(0,0) = Data.base_rpy;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    X_cur.block&lt;3,1&gt;(3,0) = Data.q.block&lt;3,1&gt;(0,0);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    X_cur.block&lt;3,1&gt;(6,0) = Data.dq.block&lt;3,1&gt;(3,0);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    X_cur.block&lt;3,1&gt;(9,0) = Data.dq.block&lt;3,1&gt;(0,0);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    R_cur = Data.base_rot;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    pCoM = X_cur.block&lt;3,1&gt;(3,0);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    pe.block&lt;3,1&gt;(0,0) = Data.fe_l_pos_W;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    pe.block&lt;3,1&gt;(3,0) = Data.fe_r_pos_W;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    pf2com.block&lt;3,1&gt;(0,0) = pe.block&lt;3,1&gt;(0,0) - pCoM;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    pf2com.block&lt;3,1&gt;(3,0) = pe.block&lt;3,1&gt;(3,0) - pCoM;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    pf2comd.block&lt;3,1&gt;(0,0) = pe.block&lt;3,1&gt;(0,0) - Xd.block&lt;3,1&gt;(3,0);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    pf2comd.block&lt;3,1&gt;(3,0) = pe.block&lt;3,1&gt;(3,0) - Xd.block&lt;3,1&gt;(3,0);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    Ic = Data.inertia;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    legStateCur = Data.legState;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    legStateNext = Data.legStateNext;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mpc_N; i++){</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keywordtype">double</span> aa;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        aa = i*dt/0.4;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordtype">double</span> phip;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        phip = Data.phi + aa;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordflow">if</span> (phip &gt; 1)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            legState[i] = legStateNext;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            legState[i] = legStateCur;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    Eigen::Matrix&lt;double, 3, 3&gt;     R_slop;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    R_slop = eul2Rot(Data.slop(0), Data.slop(1), Data.slop(2));</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordflow">if</span> (legStateCur == DataBus::RSt)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        R_f2w = Data.fe_r_rot_W;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (legStateCur == DataBus::LSt)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        R_f2w = Data.fe_l_rot_W;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        R_f2w = R_slop;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    R_w2f = R_f2w.transpose();</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;}</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="keywordtype">void</span> MPC::cal() {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">if</span> (EN) {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="comment">//qp pre</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        Eigen::Matrix&lt;double, 3, 3&gt; eye3m;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        Eigen::Matrix&lt;double, 3, 1&gt; zero3v;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        eye3m &lt;&lt; 1.0, 0.0, 0.0,</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                0.0, 1.0, 0.0,</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                0.0, 0.0, 1.0;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        zero3v.setZero();</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        Eigen::Matrix&lt;double, nx, nx&gt; eye12m;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        eye12m.setZero();</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nx; i++)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;            eye12m(i, i) = 1.0;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mpc_N; i++) {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;            R_curz[i] = Rz3(X_cur(2));</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mpc_N; i++) {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            Ac[i].block&lt;3, 3&gt;(0, 6) = R_curz[i].transpose();</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;            Ac[i].block&lt;3, 3&gt;(3, 9) = eye3m;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            A[i] = eye12m + dt * Ac[i];</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mpc_N; i++) {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            pf2comi[i] = pf2com;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            Eigen::Matrix3d     Ic_W_inv;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            Ic_W_inv = (R_curz[i]*Ic* R_curz[i].transpose()).inverse();</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            Bc[i].block&lt;3, 3&gt;(6, 0) = Ic_W_inv*CrossProduct_A(pf2comi[i].block&lt;3, 1&gt;(0, 0));</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;            Bc[i].block&lt;3, 3&gt;(6, 3) = Ic_W_inv;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;            Bc[i].block&lt;3, 3&gt;(6, 6) = Ic_W_inv*CrossProduct_A(pf2comi[i].block&lt;3, 1&gt;(3, 0));</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;            Bc[i].block&lt;3, 3&gt;(6, 9) = Ic_W_inv;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;            Bc[i].block&lt;3, 3&gt;(9, 0) = eye3m / m;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;            Bc[i].block&lt;3, 3&gt;(9, 6) = eye3m / m;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            Bc[i]((nx - 1), (nu - 1)) = 1.0 / m;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            B[i] = dt * Bc[i];</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mpc_N; i++)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;            Aqp.block&lt;nx, nx&gt;(i * nx, 0) = eye12m;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mpc_N; i++)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; i + 1; j++)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                Aqp.block&lt;nx, nx&gt;(i * nx, 0) = A[j] * Aqp.block&lt;nx, nx&gt;(i * nx, 0);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mpc_N; i++)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; i + 1; j++)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;                Aqp1.block&lt;nx, nx&gt;(i * nx, j * nx) = eye12m;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; mpc_N; i++)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; i; j++)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = j + 1; k &lt; (i + 1); k++)</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                    Aqp1.block&lt;nx, nx&gt;(i * nx, j * nx) = A[k] * Aqp1.block&lt;nx, nx&gt;(i * nx, j * nx);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; mpc_N; i++)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;            Bqp1.block&lt;nx, nu&gt;(i * nx, i * nu) = B[i];</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        Eigen::Matrix&lt;double, nu * mpc_N, nu * ch&gt; Bqp11;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        Bqp11.setZero();</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        Bqp11.block&lt;nu * ch, nu * ch&gt;(0, 0) = Eigen::MatrixXd::Identity(nu * ch, nu * ch);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; (mpc_N - ch); i++)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            Bqp11.block&lt;nu, nu&gt;(nu * ch + i * nu, nu * (ch - 1)) = Eigen::MatrixXd::Identity(nu, nu);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        Eigen::Matrix&lt;double, nx * mpc_N, nu * ch&gt; B_tmp;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        B_tmp = Bqp1 * Bqp11;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        Bqp = Aqp1 * B_tmp;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        H = 2 * (Bqp.transpose() * L * Bqp + alpha * K);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        c = 2 * Bqp.transpose() * L * (Aqp * X_cur - Xd);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <span class="comment">//friction constraint</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        Eigen::Matrix&lt;double, ncfr_single, 3&gt; Asfr111, Asfr11;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        Eigen::Matrix&lt;double, ncfr, nu&gt; Asfr1;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        Eigen::Matrix&lt;double, ncfr * ch, nu * ch&gt; Asfr;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        Asfr111.setZero();</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        Asfr1.setZero();</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        Asfr.setZero();</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        Asfr111 &lt;&lt;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                -1.0, 0.0, -1.0 / sqrt(2.0) * miu,</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;                1.0, 0.0, -1.0 / sqrt(2.0) * miu,</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;                0.0, -1.0, -1.0 / sqrt(2.0) * miu,</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;                0.0, 1.0, -1.0 / sqrt(2.0) * miu;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        Asfr11 = Asfr111 * R_w2f;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        Asfr1.block&lt;ncfr_single, 3&gt;(0, 0) = Asfr11;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        Asfr1.block&lt;ncfr_single, 3&gt;(ncfr_single, 6) = Asfr11;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; ch; i++)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;            Asfr.block&lt;ncfr, nu&gt;(ncfr * i, i * nu) = Asfr1;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="comment">//moment constraint x y</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <span class="keywordtype">double</span> sign_xy[4]{1.0, -1.0, -1.0, 1.0};</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        Eigen::Matrix&lt;double, 3, 1&gt; gxyz[4];</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        gxyz[0] &lt;&lt; 0.0, 1.0, 0.0;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        gxyz[1] &lt;&lt; 0.0, 1.0, 0.0;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        gxyz[2] &lt;&lt; 1.0, 0.0, 0.0;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        gxyz[3] &lt;&lt; 1.0, 0.0, 0.0;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        Eigen::Matrix&lt;double, 3, 1&gt; r[4];</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        Eigen::Matrix&lt;double, 3, 1&gt; p[4];</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        Eigen::Matrix&lt;double, ncstxya, 6&gt; Astxy_r[4];</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        Eigen::Matrix&lt;double, ncstxy_single, 6&gt; Astxy11;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        Eigen::Matrix&lt;double, ncstxy, nu&gt; Astxy1;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        Eigen::Matrix&lt;double, ncstxy * ch, nu * ch&gt; Astxy;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        Astxy_r[0].setZero();</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        Astxy_r[1].setZero();</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        Astxy_r[2].setZero();</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        Astxy_r[3].setZero();</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        Astxy11.setZero();</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        Astxy1.setZero();</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        Astxy.setZero();</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        r[0] &lt;&lt; 0.0, 1.0, 0.0;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        r[1] &lt;&lt; 0.0, 1.0, 0.0;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        r[2] &lt;&lt; 1.0, 0.0, 0.0;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        r[3] &lt;&lt; 1.0, 0.0, 0.0;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        p[0] &lt;&lt; delta_foot[0], 0.0, 0.0;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        p[1] &lt;&lt; -delta_foot[1], 0.0, 0.0;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        p[2] &lt;&lt; 0.0, delta_foot[2], 0.0;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        p[3] &lt;&lt; 0.0, -delta_foot[3], 0.0;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; i++) {</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;            Astxy_r[i].block&lt;1, 3&gt;(0, 0) =</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;                    sign_xy[i] * gxyz[i].transpose() * R_w2f * R_f2w * r[i] * (R_f2w * r[i]).transpose() *</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;                    CrossProduct_A(R_f2w * p[i]);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;            Astxy_r[i].block&lt;1, 3&gt;(0, 3) = sign_xy[i] * gxyz[i].transpose() * R_w2f;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;            Astxy11.block&lt;ncstxya, 6&gt;(i * ncstxya, 0) = Astxy_r[i];</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        }</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        Astxy1.block&lt;ncstxy_single, 6&gt;(0, 0) = Astxy11;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        Astxy1.block&lt;ncstxy_single, 6&gt;(ncstxy_single, 6) = Astxy11;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; ch; i++)</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;            Astxy.block&lt;ncstxy, nu&gt;(ncstxy * i, nu * i) = Astxy1;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        <span class="comment">//moment constraint z</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        Eigen::Matrix&lt;double, ncstza, 6&gt; Astz_r[4];</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        Eigen::Matrix&lt;double, ncstz_single, 6&gt; Astz11;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        Eigen::Matrix&lt;double, ncstz, nu&gt; Astz1;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        Eigen::Matrix&lt;double, ncstz * ch, nu * ch&gt; Astz;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        Astz_r[0].setZero();</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        Astz_r[1].setZero();</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        Astz_r[2].setZero();</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        Astz_r[3].setZero();</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        Astz11.setZero();</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        Astz1.setZero();</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        Astz.setZero();</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; i++) {</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;            Astz_r[i].block&lt;1, 3&gt;(0, 0) =  -sqrt(p[i](0) * p[i](0) + p[i](1) * p[i](1) + p[i](2) * p[i](2)) * miu *</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;                                           Eigen::Matrix&lt;double, 1, 3&gt;(0.0, 0.0, 1.0) * R_w2f;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;            Astz_r[i].block&lt;1, 3&gt;(0, 3) = Eigen::Matrix&lt;double, 1, 3&gt;(0.0, 0.0, 1.0) * R_w2f;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;            Astz_r[i].block&lt;1, 3&gt;(1, 0) = Astz_r[i].block&lt;1, 3&gt;(0, 0);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;            Astz_r[i].block&lt;1, 3&gt;(1, 3) = -1*Astz_r[i].block&lt;1, 3&gt;(0, 3);</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;            Astz11.block&lt;ncstza, 6&gt;(i * ncstza, 0) = Astz_r[i];</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        }</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        Astz1.block&lt;ncstz_single, 6&gt;(0, 0) = Astz11;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        Astz1.block&lt;ncstz_single, 6&gt;(ncstz_single, 6) = Astz11;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; ch; i++)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;            Astz.block&lt;ncstz, nu&gt;(ncstz * i, nu * i) = Astz1;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        As.block&lt;ncfr * ch, nu * ch&gt;(0, 0) = Asfr;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        As.block&lt;ncstxy * ch, nu * ch&gt;(ncfr * ch, 0) = Astxy;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        As.block&lt;ncstz * ch, nu * ch&gt;(ncfr * ch + ncstxy * ch, 0) = Astz;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        bs.setZero();</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        <span class="comment">//qp</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        Eigen::Matrix&lt;double, nu * ch, 1&gt; Guess_value;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        Guess_value.setZero();</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; ch; i++){</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;            <span class="keywordflow">if</span> (legState[i] == DataBus::DSt) {</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;                Guess_value(i * nu + 2) = -0.5 * m * g;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;                Guess_value(i * nu + 8) = -0.5 * m * g;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;                Guess_value(i * nu + 12) = m * g;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;                <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 6; j++) {</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;                    u_low(i * nu + j) = min[j];</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;                    u_low(i * nu + j + 6) = min[j];</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;                    u_up(i * nu + j) = max[j];</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                    u_up(i * nu + j + 6) = max[j];</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;                }</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;                u_low(i * nu + 12) = m * g;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;                u_up(i * nu + 12) = m * g;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (legState[i] == DataBus::LSt) {</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;                Guess_value(i * nu + 2) = -m * g;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;                Guess_value(i * nu + 12) = m * g;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;                <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 6; j++) {</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;                    u_low(i * nu + j) = min[j];</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;                    u_low(i * nu + j + nu / 2) = 0.0;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;                    u_up(i * nu + j) = max[j];</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;                    u_up(i * nu + j + nu / 2) = 0.0;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;                }</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;                u_low(i * nu + 8) = 0.0;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                u_up(i * nu + 8) = 0.0;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                u_low(i * nu + 12) = m * g;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;                u_up(i * nu + 12) = m * g;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (legState[i] == DataBus::RSt) {</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;                Guess_value(i * nu + 8) = -m * g;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;                Guess_value(i * nu + 12) = m * g;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;                <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 6; j++) {</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;                    u_low(i * nu + j) = 0.0;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;                    u_low(i * nu + j + nu / 2) = min[j];</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;                    u_up(i * nu + j) = 0.0;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;                    u_up(i * nu + j + nu / 2) = max[j];</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;                }</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;                u_low(i * nu + 2) = 0.0;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;                u_up(i * nu + 2) = 0.0;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;                u_low(i * nu + 12) = m * g;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;                u_up(i * nu + 12) = m * g;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;            }</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        qpOASES::returnValue res;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        nWSR = 1000000;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        cpu_time = dt;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        Eigen::Matrix&lt;double, nc * ch, 1&gt; lbA, ubA, one_ch_1;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        one_ch_1.setOnes();</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        lbA = -1e7 * one_ch_1;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        ubA = 1e7 * one_ch_1;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; ch; i++){</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;            <span class="keywordflow">if</span>(legState[i] == DataBus::DSt){</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;                ubA.block&lt;ncfr, 1&gt;(ncfr * i, 0).setZero();</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;                ubA.block&lt;ncstxy, 1&gt;(ncfr * ch + ncstxy * i, 0).setZero();</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;                ubA.block&lt;ncstz, 1&gt;(ncfr * ch + ncstxy * ch + ncstz * i, 0).setZero();</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;            }</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (legState[i] == DataBus::LSt) {</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;                ubA.block&lt;ncfr_single, 1&gt;(ncfr * i, 0).setZero();</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;                ubA.block&lt;ncstxy_single, 1&gt;(ncfr * ch + ncstxy * i, 0).setZero();</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;                ubA.block&lt;ncstz_single, 1&gt;(ncfr * ch + ncstxy * ch + ncstz * i, 0).setZero();</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;            }</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (legState[i] == DataBus::RSt) {</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;                ubA.block&lt;ncfr_single, 1&gt;(ncfr * i + ncfr_single, 0).setZero();</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;                ubA.block&lt;ncstxy_single, 1&gt;(ncfr * ch + ncstxy * i + ncstxy_single, 0).setZero();</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;                ubA.block&lt;ncstz_single, 1&gt;(ncfr * ch + ncstxy * ch + ncstz * i + ncstz_single, 0).setZero();</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;            }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        }</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        copy_Eigen_to_real_t(qp_H, H, nu * ch, nu * ch);</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;        copy_Eigen_to_real_t(qp_c, c, 1, nu * ch);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        copy_Eigen_to_real_t(qp_As, As, nc * ch, nu * ch);</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        copy_Eigen_to_real_t(qp_lbA, lbA, nc * ch, 1);</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        copy_Eigen_to_real_t(qp_ubA, ubA, nc * ch, 1);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;        copy_Eigen_to_real_t(qp_lu, u_low, nu * ch, 1);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;        copy_Eigen_to_real_t(qp_uu, u_up, nu * ch, 1);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        copy_Eigen_to_real_t(xOpt_iniGuess, Guess_value, nu * ch, 1);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;        res = QP.init(qp_H, qp_c, qp_As, qp_lu, qp_uu, qp_lbA, qp_ubA, nWSR, &amp;cpu_time, xOpt_iniGuess);</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160; </div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;        qpStatus = qpOASES::getSimpleStatus(res);</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        last_nWSR = nWSR;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;        last_cpuTime = cpu_time;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;        qpOASES::real_t xOpt[nu * ch];</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;        QP.getPrimalSolution(xOpt);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        <span class="keywordflow">if</span> (qpStatus == 0) {</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nu * ch; i++)</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;                Ufe(i) = xOpt[i];</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;        }</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;        dX_cal = Ac[0] * X_cur + Bc[0] * Ufe.block&lt;nu,1&gt;(0,0);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        Eigen::Matrix&lt;double, nx, 1&gt;    delta_X;</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;        delta_X.setZero();</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; i++){</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;            delta_X(i) = 0.5*dX_cal(i+6)*dt*dt;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;            delta_X(i+3) = 0.5*dX_cal(i+9)*dt*dt;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;            delta_X(i+6) = dX_cal(i+6)*dt;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;            delta_X(i+9) = dX_cal(i+9)*dt;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        }</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        X_cal = (Aqp * X_cur + Bqp * Ufe).block&lt;nx,1&gt;(nx*0,0) + delta_X;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        Ufe_pre = Ufe.block&lt;nu, 1&gt;(0, 0);</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        QP.reset();</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    }</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;}</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160; </div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;<span class="keywordtype">void</span> MPC::dataBusWrite(<a class="code" href="structDataBus.html">DataBus</a> &amp;Data) {</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    Data.Xd = Xd;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    Data.X_cur = X_cur;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    Data.fe_react_tau_cmd = Ufe;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    Data.X_cal = X_cal;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    Data.dX_cal = dX_cal;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    Data.qp_nWSR_MPC = nWSR;</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;    Data.qp_cpuTime_MPC = cpu_time;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    Data.qpStatus_MPC = qpStatus;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    Data.Fr_ff = Ufe.block&lt;12, 1&gt;(0, 0);</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    <span class="keywordtype">double</span> k = 5;</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    Data.des_ddq.block&lt;2, 1&gt;(0, 0) &lt;&lt; dX_cal(9), dX_cal(10);</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;    Data.des_ddq(5) = k * (Xd(6 + 2) - Data.dq(5));</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    Data.des_dq.block&lt;3, 1&gt;(0, 0) &lt;&lt; Xd(9 + 0), Xd(9 + 1), Xd(9 + 2);</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    Data.des_dq.block&lt;2, 1&gt;(3, 0) &lt;&lt; 0.0, 0.0;</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    Data.des_dq(5) = Xd(6 + 2);</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    Data.des_delta_q.block&lt;2, 1&gt;(0, 0) = Data.des_dq.block&lt;2, 1&gt;(0, 0) * dt;</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    Data.des_delta_q(5) = Data.des_dq(5) * dt;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    Data.base_rpy_des &lt;&lt; 0.005, 0.00, Xd(2);</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    Data.base_pos_des &lt;&lt; Xd(3 + 0), Xd(3 + 1), Xd(3 + 2);</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;}</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160; </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;<span class="keywordtype">void</span>    MPC::enable(){</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    EN = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;}</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;<span class="keywordtype">void</span>    MPC::disable(){</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    EN = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;}</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;<span class="keywordtype">bool</span>    MPC::get_ENA(){</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;    <span class="keywordflow">return</span> EN;</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;}</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;<span class="keywordtype">void</span> MPC::copy_Eigen_to_real_t(qpOASES::real_t* target, Eigen::MatrixXd source, <span class="keywordtype">int</span> nRows, <span class="keywordtype">int</span> nCols) {</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    <span class="keywordtype">int</span> count = 0;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    <span class="comment">// Strange Behavior: Eigen matrix matrix(count) is stored by columns (not rows)</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    <span class="comment">// real_t is stored by rows, same to C array</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nRows; i++) {</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; nCols; j++) {</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;            target[count] = source(i, j);</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;            count++;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        }</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;    }</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;}</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160; </div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00015">data_bus.h:15</a></div></div>
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